JP2020035217A - Self-driving system, self-driving method, self-driving program and recording medium - Google Patents

Abstract

To provide a self-driving system that uses map information consistent with a management aspect of actual roads.SOLUTION: A self-driving system has: a storage unit that stores map information representing a lane by means of a link and a point of contact between the lanes themselves by means of a node, in which there is the lane having a plurality of parallel links set with respect to one lane; an other vehicle information acquisition unit that acquires other vehicle information indicative of an other vehicle state in an advancement direction of an own vehicle; a control unit that, on the basis of route information and location information, controls self-driving of the own vehicle to a destination while running on the set link in the map information; and a first determination unit that determines whether the own vehicle runs on the lane having the plurality of parallel links set with respect to the one lane or not, from the location information and the map information. When the own vehicle runs on the lane having the plurality of parallel links set with respect to the one lane, if it can be determined that a running route where the other vehicle runs coincides with a running route where the own vehicle runs, the control unit is configured to control the own vehicle so as to follow the other vehicle running forward the own vehicle.SELECTED DRAWING: Figure 11

Description

  The present invention relates to an automatic driving system for performing automatic driving using map information, an automatic driving method, an automatic driving program, and a recording medium on which the program is recorded.

  In recent years, automatic driving technology using map information has been developed. For example, Patent Document 1 discloses a lane change control device that automatically changes lanes in an automatic driving system. In this lane change control device, a virtual lane is provided between the current traveling lane and a target lane or a target position, and the virtual lane is controlled as a real lane, thereby realizing a lane change across a white line.

WO2017 / 047261

  By the way, in the automatic driving system, for example, in a map in which a lane is represented by a link, an automatic driving technique that controls the vehicle to travel at an actual position on the link is also conceivable. However, in an actual road condition, a problem may occur that automatic driving cannot be performed as if the vehicle is traveling on the link, or that doing so may result in impeding actual traffic flow.

  Therefore, the present invention has been made in view of the above problems, and provides an automatic driving system, an automatic driving method, an automatic driving program, and a recording medium on which the program is recorded, which performs automatic driving using map information. With the goal.

  In order to solve the above problem, in an automatic driving system according to one embodiment of the present invention, a lane is represented by a link, a contact point between lanes is represented by a node, and a plurality of parallel links are set for one lane. A storage unit for storing map information with lanes, a route information acquisition unit for acquiring route information indicating a route to a destination, a position information acquisition unit for acquiring position information of the own vehicle, and at least a traveling direction of the own vehicle The other vehicle information acquisition unit that acquires other vehicle information indicating the state of the other vehicle, and at least the route of the own vehicle to the destination while traveling on the link set in the map information based on the route information and the position information. A control unit that controls automatic traveling, and a first determination that determines whether the vehicle travels in a lane in which a plurality of parallel links are set for one lane, based on the position information and the map information. Department and own car When traveling on a lane in which a plurality of parallel links are set for one lane, the traveling route on which the other vehicle travels is determined by referring to the other vehicle information. The second determination unit that determines whether or not they match, and the control unit, when it is determined that the travel route on which the other vehicle travels matches the travel route on which the host vehicle travels, regardless of the link, The traveling of the own vehicle is controlled so as to follow another vehicle traveling in front of the own vehicle.

  In order to solve the above problem, in an automatic driving method according to one embodiment of the present invention, a lane is represented by a link, a contact point between lanes is represented by a node, and a plurality of parallel links are set for one lane. An automatic driving method performed by an automatic driving system including a storage unit that stores map information with lanes, wherein a path information obtaining step of obtaining path information indicating a path to a destination, and obtaining position information of the own vehicle The other vehicle information obtaining step of obtaining at least the other vehicle information indicating the state of the other vehicle in the traveling direction of the own vehicle, and at least the route information and the position information, which are set in the map information. A control step of controlling the automatic traveling of the own vehicle to the destination while traveling on the link; A first determination step of determining whether to go from the position information and the map information based on the position information and the map information; and a case where the own vehicle travels in a lane in which a plurality of parallel links are set to one lane. A second determination step of determining whether or not the travel route on which the other vehicle travels matches the travel route on which the own vehicle travels, with reference to the vehicle information. If it is determined that the traveling route that the vehicle is traveling on coincides with the traveling route on which the vehicle is traveling, the traveling of the vehicle is controlled so as to follow another vehicle traveling ahead of the vehicle, regardless of the link. .

  In order to solve the above problem, an automatic driving program according to one embodiment of the present invention expresses a lane with a link, expresses a contact point between lanes with a node, and sets a plurality of parallel links for one lane. A computer that can access a storage unit that stores map information with lanes stores a route information acquisition function for acquiring route information indicating a route to a destination, a position information acquisition function for acquiring position information of the vehicle, The other vehicle information acquisition function for acquiring other vehicle information indicating the state of the other vehicle in at least the traveling direction of the vehicle, and the destination while traveling on the link set in the map information based on at least the route information and the position information. Up to a control function for controlling the automatic traveling of the own vehicle, and whether or not the own vehicle travels in a lane in which a plurality of parallel links are set for one lane is provided with position information and a map. From the information, the first determination function for determining, and when the own vehicle travels in a lane in which a plurality of parallel links are set for one lane, the other vehicle travels with reference to the other vehicle information. And a second determination function of determining whether or not the traveling route on which the own vehicle travels is the same as the traveling route on which the own vehicle travels. When it can be determined that the vehicle is in agreement with the traveling route, the traveling of the own vehicle is controlled so as to follow another vehicle traveling ahead of the own vehicle irrespective of the link.

  In the automatic driving system, the second determination unit determines whether a traveling route on which a plurality of other vehicles that are continuous on the lane is running matches a traveling route on which the own vehicle travels, and the control unit determines If it is determined that the traveling route on which the plurality of other vehicles are traveling coincides with the traveling route on which the own vehicle travels, the traveling vehicle follows the other vehicle traveling in front of the own vehicle regardless of the link. The running of the vehicle may be controlled.

  In the above automatic driving system, when the own vehicle is traveling in a lane in which a plurality of parallel links are set for one lane, a plurality of other vehicles entering the lane may have a plurality of vehicles for one lane. When the vehicle is running in parallel from the lane where the parallel link is set, a plurality of parallel links of one lane are extended by a predetermined distance before the traveling direction of the own vehicle, and a plurality of parallel links are formed. A correction unit that temporarily corrects the map information so as to change the position of the connected node may be provided, and the control unit may control the automatic traveling of the vehicle according to the map information corrected by the correction unit.

  In the automatic driving system, the other vehicle information obtaining unit obtains, as the other vehicle information, the traveling history information on which the other vehicle travels, and the correction unit performs a plurality of parallel operations on one lane based on the traveling history information. The map information may be temporarily corrected by deciding how far the link should be directed toward the host vehicle.

  In the above automatic driving system, the control unit controls the own vehicle to travel on a link that does not hinder traffic flow in the lane, based on the traveling history information, among the plurality of extended parallel links. Is also good.

  In the automatic driving system, the control unit selects, as a link that does not hinder traffic flow, a link with a small number of vehicles that are considered to be traveling on a plurality of parallel links as a route on which the own vehicle travels. Then, the vehicle may be automatically driven.

  In the automatic driving system, the correction unit may return the map information to a state before the correction after the host vehicle travels on a lane in which a plurality of parallel links are set for one lane.

  The automatic driving system according to one embodiment of the present invention controls a vehicle to travel on a link defined to travel in map information, and automatically controls the vehicle according to a traveling situation. be able to.

FIG. 2 is a block diagram illustrating a functional configuration example of a map information creation device. 5 is a flowchart illustrating a map information creation method by the map information creation device. It is a figure showing an example of a map. It is an example of a map and is a figure for demonstrating a lane width. It is an example of a map and is a figure for demonstrating the relationship between a lane, a node, and a link. FIG. 9 is a diagram illustrating an example of a map converted into a map in which two parallel links are generated in one lane. 9 is a flowchart illustrating another example of a map information creation method by the map information creation device. It is a figure which shows a mode that the paint of the arrow is attached to the lane. It is a figure showing signs that two or more vehicles run in one lane in parallel. FIG. 2 is a block diagram illustrating a configuration example of a navigation system. It is a block diagram showing the example of composition of an automatic operation system. It is a figure showing the example which corrected the link and node of map information. 5 is a flowchart illustrating an operation example of the navigation system. It is a flowchart which shows the operation example of an automatic driving system. It is a block diagram showing another example of composition of an automatic operation system.

  Hereinafter, an automatic driving system according to an embodiment of the present invention will be described in detail with reference to the drawings.

  The automatic driving system according to one embodiment of the present invention expresses lanes by links, expresses points of contact between lanes by nodes, and stores map information including lanes in which a plurality of parallel links are set for one lane. A storage unit (see 1104 in FIG. 11), a route information obtaining unit (see 1102 in FIG. 11 or 1005 in FIG. 10) that obtains route information indicating a route to the destination, and obtains position information of the own vehicle. A position information acquisition unit (see 1102 in FIG. 11 or 1006 in FIG. 10), and another vehicle information acquisition unit that acquires other vehicle information indicating the state of another vehicle in at least the traveling direction of the own vehicle (see 1101 in FIG. 11) ), A control unit (see 1105 in FIG. 11) that controls the automatic traveling of the own vehicle to the destination while traveling on the link set in the map information based on at least the route information and the position information. And a first determination unit (refer to 1105 in FIG. 11) for determining whether or not the vehicle travels in a lane in which a plurality of parallel links are set for one lane based on the position information and the map information. ), And when the own vehicle travels on a lane in which a plurality of parallel links are set for one lane, the traveling route on which the other vehicle is traveling is determined by referring to other vehicle information. The second determination unit (see 1105 in FIG. 11) that determines whether or not the traveling route is the same as the traveling route on which the own vehicle travels is determined. When it is determined that the vehicle is running, the running of the host vehicle is controlled so as to follow another vehicle running in front of the host vehicle irrespective of the link.

  In such an automatic driving system, first, map information used in the automatic driving system will be described in Embodiment 1, and details of the automatic driving system according to one embodiment of the present invention will be described in Embodiment 2. .

<First Embodiment>
<Configuration of map information creation device>
FIG. 1 is a block diagram illustrating a functional configuration example of the map information creation device 100. As shown in FIG. 1, the map information creating device 100 includes a receiving unit 101, a receiving unit 102, an output unit 103, a storage unit 104, and a CPU 105. The map information creation device 100 is a device that creates a map for a navigation device for performing route guidance mounted on a vehicle or the like as an example, and is realized by a server device, a PC, or the like, but is not limited thereto. Instead, it may be realized by a mobile terminal such as a smartphone. The map information creation device 100 creates map information or creates an existing map information so that the map information approaches actual operation when the information such as the road indicated by the map information is different from the mode in which the vehicle actually travels. This is to correct the map information. Specifically, the map information creating apparatus 100 determines that if one lane is registered as one lane in the map information even though a plurality of vehicles are running side by side in one lane, Configure multiple links in parallel. Hereinafter, each functional unit of the map information creating apparatus 100 will be described in detail.

  The receiving unit 101 has a function of receiving an input from a user of the map information creating apparatus 100 and transmitting the input to the CPU 105. The accepting unit 101 can be realized by, for example, a hardware key provided in the map information creating apparatus 100 or a soft key such as a touch key. The input to the receiving unit 101 may be a voice input.

  The receiving unit 102 has a function of receiving information from another device by communication. The receiving unit 102 receives, for example, traveling history information that is a traveling history of a vehicle, which is generated using information such as a position where the automobile actually traveled and a vehicle speed, so-called probe information (probe traffic information). The receiving unit 102 receives probe information from, for example, a road traffic information communication system (server) that collects and accumulates probe information. The receiving unit 102 transmits the acquired probe information to the CPU 105.

  The output unit 103 has a function of outputting the instructed data in accordance with an instruction from the CPU 105. The output unit 103 can output, for example, an image indicating a map to a monitor, and can output the map information 141 to an external device such as a navigation system. The output unit 103 functions as a communication interface that outputs information specified by the CPU 105 to an external device.

  The storage unit 104 is a recording medium that stores various programs and various data including map information necessary for the operation of the map information creation device 100. The storage unit 104 is realized by, for example, a hard disk drive (HDD), a solid state drive (SSD), a flash memory, or the like. The storage unit 104 is configured to be accessible from the CPU 105. The storage unit 104 stores map information 141. The map information 141 includes a link indicating a lane of each road and information of a node that is a contact point between the road and the road (lane to lane). Includes at least distance information indicating the lane width of each lane. Further, when there is an arrow paint on a lane, the map information 141 may include the information (information that the lane is painted with an arrow and information on the direction indicated by the arrow).

  The CPU 105 is a processor that uses the various programs and various data stored in the storage unit 104 to execute processing to be executed by the map information creation device 100.

  In the map information 141 stored in the storage unit 104, the CPU 105 functions as an extraction unit that extracts one lane with one link in one traveling direction in one lane. Here, one lane link means that one or more links are connected via a node along the traveling direction of the lane to form a single lane, and the lane itself is one lane. Note that this is not intended to consist of only one link. However, this does not deny that one lane is composed of only one link. That is, the CPU 105 specifies a lane in which a plurality of parallel links are not set for the lane.

  In addition, the CPU 105 functions as a determination unit that determines whether the lane width of the extracted lane is equal to or greater than a predetermined distance. Here, the predetermined distance refers to a distance enough for two or more vehicles to run in parallel, for example, 5.0 m. This length is an example, and an appropriate length may be determined by simulation or the like.

  The CPU 105 generates two parallel links (end points may be connected to the same node) as links corresponding to the lane for which the lane width is determined to be equal to or more than the predetermined distance. Function as

  Further, the CPU 105 functions as a replacement unit that sets the two generated links as the links for the lane or replaces the generated two links with new links used in place of the original links. Specifically, the CPU 105 deletes a link from the origin of the lane, and registers a newly generated link in the map information 141 instead.

  In addition, the CPU 105 generates a link and replaces a lane that is configured by one link and has a lane width equal to or more than a predetermined distance, after further narrowing down whether or not a predetermined condition is satisfied. You may.

  Here, the predetermined condition is a condition that can specify a lane that is likely to be a lane in which a plurality of vehicles are running in parallel while being one lane. For example, for one lane, It is a paint of an arrow indicating a traveling direction, whether or not there are a plurality of arrows indicating different directions, whether or not it is possible to detect that a plurality of vehicles are running in parallel from the probe information, From whether or not the ratio of a plurality of vehicles running in parallel per unit time is equal to or greater than a predetermined value, or from whether or not two or more tracks on which vehicles have traveled can be specified from the probe information. Good.

  The CPU 105 may execute lane narrowing according to these conditions.

  The above is the configuration example of the map information creation device 100.

<Operation of map information creation device>
Next, the operation of the map information creation device by the map information creation device 100 will be described with reference to FIG. FIG. 2 shows a lane composed of one link for one lane in the map information by the map information creating apparatus 100, and two or more vehicles are running in parallel in actual running operation. It is a flowchart which shows the process which replaces such a lane with two or more parallel links. This flowchart shows the operation in the case where the originally existing map information is improved, but the same operation is performed when the map information is created.

  As shown in FIG. 2, the CPU 105 extracts, from the map information 141 stored in the storage unit 104, a lane composed of one link with respect to the traveling lane (step S201).

  The CPU 105 repeats the processing of steps S203 to S205 for all the extracted lanes (step S202).

  The CPU 105 acquires the lane width information of the extracted lane from the map information 141. Then, it is determined whether or not the acquired lane width is equal to or greater than a predetermined distance (step S203). When the lane width of the lane is equal to or greater than the predetermined distance (YES in step S203), the CPU 105 generates two or more parallel links as links to the lane (step S204). At this time, the CPU 105 generates the link so that the self-driving vehicle does not disturb other vehicles when traveling at the actual position on the link, and does not hinder the running of the self-driving vehicle. To be generated. If the lane width of the lane is not equal to or greater than the predetermined distance (NO in step S203), the process proceeds to step S206.

  The CPU 105 replaces one link in the original lane with the two parallel links generated (step S205).

  The CPU 105 ends the process if the processes of steps S203 to S205 have been executed for all the extracted links, and otherwise executes the processes of steps S203 to S205 for the remaining lanes. (Step S206).

  As described above, the map information creating apparatus 100 can modify the map information 141 so as to be closer to an actual operation mode. As a result, it is possible to improve the map information 141 into a map that more closely matches the use case.

<Specific examples>
A link creation method by the map information creation device 100 will be described below using one specific example shown in FIGS.

  FIG. 3 is a diagram showing a part of the map information 141. FIG. 3 shows an example of a map of a junction at a place where the user gets off the highway and connects to a general road. The arrows in FIG. 3 indicate the traveling direction of each lane. In such a place, a merging road (a road surrounded by a dotted line 401) connecting the highway descending from the highway shown in FIG. 4 and a general road is considered. This merging road is basically a one-lane road. In this case, the lane width of this merging road is indicated by a distance d shown in FIG. Then, in this map, the map information 141 is indicated by a link and a node as shown in FIG. For example, in FIG. 5, the merging road includes nodes 501, 502, 503, 504, and 505, and links 511, 512, 513, and 513 connecting the respective nodes. 514. In FIG. 5, an area surrounded by a dotted line 521 in contact with the node 505 is an area set as an intersection area in the map information 141.

  It is assumed that the lane width d of the merging road is equal to or greater than a predetermined distance. Then, the CPU 105 of the map information creating apparatus 100 generates and replaces two parallel links as links for the lane. Specifically, one link (a series of links) from the node 502 to the node 505 shown in FIG. 5 and the nodes between them are represented by a link 611, a node 601, a link 612, a node 602, and a link 613 shown in FIG. , A series of links consisting of a node 603 and a series of links consisting of a link 616, a node 606, a link 617, a node 607, a link 618, and a node 608 which are parallel to the series of links. .

  As described above, when there is a lane having a predetermined width in one lane, the map information creating apparatus 100 can generate two parallel links as links for the lane and replace the link for the lane. Therefore, if two or more vehicles can run side by side even on a one-lane road, there may be a situation where a plurality of vehicles actually run side by side. The map information 141 can be made to correspond.

<Operation of map information creation device when narrowing down lanes>
By the way, even if all the lanes whose lane widths are equal to or more than a predetermined distance are simply replaced with two parallel links, a map different from the normal operation may be created. Therefore, the map information creating device 100 narrows down lanes to be replaced with two parallel links from lanes whose lane width is equal to or greater than a predetermined distance.

  FIG. 7 is a flowchart illustrating a link replacement process including a lane narrowing process of the map information creating apparatus 100. The flowchart shown in FIG. 7 is different from the flowchart shown in FIG. 2 in that the process of step S701 is inserted between steps S203 and S204. Therefore, here, the process shown in step S701 will be described.

  The CPU 105 of the map information creating device 100 determines whether or not a lane having a lane width equal to or greater than a predetermined distance satisfies a predetermined condition (step S701). When the predetermined condition is satisfied (YES in step S701), the map information creating device 100 determines the link of the lane as a lane to be replaced with two parallel links. When the predetermined condition is not satisfied (NO in step S701), the process proceeds to step S206.

  Here, the predetermined condition may be at least one of the following as described above, or may be a plurality of the following.

(Condition 1) There are a plurality of traveling directions as traveling destinations of the lane.
(Condition 2) The lane is painted with an arrow, and there are a plurality of pointing directions.
(Condition 3) A situation where a plurality of vehicles are running in parallel can be detected.
(Condition 4) The ratio of a plurality of vehicles running in parallel per unit time is equal to or greater than a predetermined value.
(Condition 5) Two or more traveling trajectories on which the vehicle has traveled in the lane can be detected.
(Condition 6) It is possible to detect two or more traveling trajectories on which the vehicle has traveled in the lane, and it is possible to detect that a certain number or more vehicles have passed each traveling trajectory.

  When at least one of these conditions is satisfied, the map information creating apparatus 100 may specify the lane as a lane for generating two parallel links. Each of the above conditions is a condition that can increase the certainty that a plurality of vehicles may be running in parallel in the lane.

  Condition 1 is based on whether or not a link indicated by the lane indicated by the map information 141 and a plurality of links (in some cases, an intersection area is interposed) are connected to a node on the end point side with respect to the traveling direction. It can be determined whether or not the condition is satisfied.

  The condition 2 can determine whether or not the condition is satisfied from the information on the lane indicated in the map information 141. The lane is painted with an arrow, and FIG. 8 shows a specific example of the pointing direction. As shown in FIG. 8, two types of paint, an arrow 801 and an arrow 802, are painted on the merging lane, and it can be understood that the vehicle is allowed to go straight and turn right. As shown in FIG. 8, when information indicating that a plurality of different types of paint are applied to the lane is registered in the map information 141, it is determined that the condition 2 is satisfied.

  Whether or not the condition 3 is satisfied can be determined by the probe information received by the receiving unit 102, based on the probe information indicating that the vehicle has traveled in the lane. If it is detected from a plurality of pieces of probe information indicating that the vehicle is traveling in the lane and that the vehicle is traveling in parallel in the lane at the same time, it is determined that Condition 3 is satisfied. The situation in which a plurality of vehicles are running in parallel under the condition 3 means, for example, a situation as shown in FIG. As shown in FIG. 9, it can be understood that a plurality of vehicles are running in parallel on a merging lane which is one lane.

  Whether or not the condition 4 is satisfied can be determined based on the probe information received by the receiving unit 102 and based on the probe information indicating that the vehicle has traveled in the lane. Condition 4 is that, for example, a combination of the probe information indicating that the vehicle is running in parallel with the entire probe information indicating that the vehicle has traveled in the lane per unit time (for example, per hour) is determined in advance. It can be determined depending on whether or not there is a predetermined ratio or more. For example, when there are 100 pieces of probe information indicating that the vehicle has traveled in the lane within a certain unit time, it is detected whether or not two pieces of probe information have been extracted from them and that they have run in parallel at the same time. Then, when the ratio of the combination of the probe information that can be specified as being parallel running at the same time to the total number of combinations formed from all the probe information is equal to or greater than a predetermined value, it is determined that the condition 4 is satisfied.

  Whether or not the condition 5 is satisfied can be determined based on the probe information received by the reception unit 102 and based on the probe information indicating that the vehicle has traveled in the lane. Condition 5 specifies, for example, a traveling route in a lane based on each piece of probe information. Then, among the traveling routes in the lane, the traveling routes whose positions are substantially similar to each other are grouped on the assumption that they are the same traveling route. Thus, when a plurality of groups are formed as a result of the grouping, it can be determined that the condition 5 is satisfied.

  Whether or not the condition 6 is satisfied is determined in addition to the condition 5 by determining whether or not a certain number or more of vehicles have traveled on the grouped travel routes. Can be determined. Here, the predetermined number or more may be simply a predetermined number or more, or the probe information during a certain time may be a predetermined number or more within the certain time.

  Since the probe information is generally information on a road basis after map matching, if there is a vehicle traveling in the same lane at the same time, it can be detected that two or more vehicles are running in parallel. On the other hand, in the case of the condition 5 or the condition 6, it is assumed that information before map matching can be collected as probe information.

  By narrowing down the lanes, the accuracy of the improvement of the map information 141 can be improved. The map information 141 may be created for each time zone. That is, time is set in the morning (6:01 to 10:00), at noon (10:01 to 14:00), in the afternoon (14:01 to 19:00), and at night (19:01 to 6:00). The map information for each time zone may be created by dividing the zone, and the degree of travel of the vehicle may vary depending on the time zone. However, such a case can be dealt with by creating the map information 141 for each time zone.

  In this embodiment, the CPU 105 changes the link of one lane to two parallel links. However, if the vehicle can run sufficiently, the CPU 105 changes the link to three or more parallel links. You may do so.

  As described above, the map information creating apparatus 100 according to the present embodiment can convert information on a map of a lane where a plurality of vehicles may run in parallel in one lane closer to actual operation. Condition can be improved. Such map information 141 can be used for, for example, an automatic driving system, and can be used for specifying a traveling route of an automatic driving vehicle.

<Summary of Embodiment 1>
According to the map information creating apparatus 100 according to the first embodiment, a map of a place where the operation is almost equal to two lanes in operation in spite of the fact that it is one lane in actuality is made into map information more realistically. Can be modified.

<Embodiment 2>
In the second embodiment, a navigation system using the map information 141 created in the first embodiment and an automatic driving vehicle will be described.

  FIG. 10 is a block diagram illustrating a configuration example of a navigation system 1000 that performs a process such as a route search using the map information 141 and transmits the process to the automatic driving system. The navigation system 1000 is used by being mounted on an automatic driving vehicle. The navigation system 1000 may be realized as a navigation computer mounted on a vehicle, or may be realized as a mobile terminal such as a smartphone.

  As shown in FIG. 10, the navigation system 1000 includes a reception unit 1001, a reception unit 1002, an output unit 1003, a storage unit 1004, a CPU 1005, and a position information acquisition unit 1006.

  The receiving unit 1001 has a function of receiving an input from a user (driver) of the navigation system 1000 and transmitting the input to the CPU 1005. The accepting unit 1001 can be realized by, for example, a hardware key provided in the navigation system 1000 or a soft key such as a touch key. Note that the input to the receiving unit 1001 may be a voice input. The receiving unit 1001 receives, for example, an input of a destination from a user and transmits information on the destination to the CPU 1005.

  The receiving unit 1002 has a function of receiving information from another device by communication. The receiving unit 1002 receives status information indicating the status of the vehicle from, for example, a CAN (Controller Area Network) of the vehicle. The situation information includes information on other vehicles traveling around the vehicle (distance to other vehicles, direction in which other vehicles exist, information on traveling speed of other vehicles, etc.), traveling speed of own vehicle , Travel position, and the like. In the present embodiment, receiving section 1002 receives status information from automatic driving system 1100 (see FIG. 11) mounted on a vehicle on which navigation system 1000 is mounted. The receiving unit 1002 transmits the obtained status information to the CPU 1005.

  The output unit 1003 has a function of outputting specified data in accordance with an instruction from the CPU 1005. The output unit 1003 outputs, to the automatic driving system 1100, route information indicating a traveling route in lanes transmitted from the CPU 1005, for example. The output unit 1003 functions as a communication interface that outputs information specified by the CPU 1005 to an external device.

  The storage unit 1004 is a recording medium that stores various programs and various data including map information necessary for the operation of the navigation system 1000. The storage unit 1004 is realized by, for example, a hard disk drive (HDD), a solid state drive (SSD), a flash memory, or the like. The storage unit 1004 is configured to be accessible from the CPU 1005. The storage unit 1004 stores map information 141 created by the map information creation apparatus 100. The map information 141 includes a link indicating a lane of each road and a node that is a contact point between the road and the road (lane to lane). Information is included.

  The CPU 1005 is a processor that executes processing to be executed by the navigation system 1000 using various programs and various data stored in the storage unit 1004.

  Based on the destination transmitted from the reception unit 1001 and the current position of the vehicle transmitted from the position information acquisition unit 1006, the CPU 1005 refers to the map information 141 stored in the storage unit 1004 and routes to the destination. To explore. The route search performs a route search for each lane. The CPU 1005 executes a route search using, for example, the A-star algorithm, the Dijkstra method, or the like. The CPU 1005 causes the output unit 1003 to output the route obtained by the search to the automatic driving system 1100.

  In addition, when the CPU 1005 determines that the vehicle train in the traveling direction does not match the link indicated in the map information 141 based on the situation information received by the reception unit 1001, the CPU 1005 serves as a correction unit that corrects the link of the map information 141. Function. The CPU 1005 determines whether the vehicle is traveling in a place other than on the link at the destination of the vehicle, that is, when the vehicle row is extended due to traffic congestion and the vehicle exists to a place not assumed on the map information 141. Temporarily corrects the link and node so that the link of the map information 141 is in line with the current state. Then, CPU 1005 searches for a new route again based on the corrected link, and outputs the new route after search to automatic driving system 1100.

  When the map information 141 needs to be corrected by the CPU 1005, the correction is performed as follows. For example, it is assumed that the relationship between the link and the node indicated by the map information 141 is in the state shown in FIG. At this time, it is assumed that the state of the vehicle train indicated by the situation information is as shown in FIG. In FIG. 9, it can be understood that the vehicle train is extended and is not on the link of the map information. In such a case, the CPU 1005 corrects links and nodes as shown in FIG. Specifically, as shown in FIG. 6, a series of links including a node 502, a link 611, a node 601, a link 612, a node 602, a link 613, and a node 603 (referred to as a first link), a node 502, While a series of links (referred to as a second link) including a link 616, a node 606, a link 617, a node 607, a link 618, and a node 608 are registered in the map information 141, the CPU 1005 returns to FIG. As shown, a series of links (referred to as third links) including a node 501, a link 1211, a node 1201, a link 1212, a node 601, a link 612, a node 602, a link 613, and a node 603, and a node 1206, a link 1216 , Node 1207, link 1217, node 1208, link 617 Node 607, link 618, (referred to as the fourth link) set of links and of nodes 608, such that the corrected. That is, the CPU 105 extends the first link as indicated by the third link, and extends the second link as indicated by the fourth link.

  The position information acquisition unit 1006 acquires the current position of the navigation system 1000 (vehicle). Specifically, it is realized by using a positioning system using various satellite radio waves such as a GPS (Global Positioning System) and a GNSS (Global Navigation Satellite System), and an autonomous navigation system such as a gyroscope. At this time, the current position information includes at least latitude information and longitude information of the position where the vehicle is located, and may include altitude information. Note that the current position information may be obtained by the position information obtaining unit 1006 by using, for example, a beacon that can be installed on a traveling road and obtain installation position information. It is not limited. The position information acquisition unit 1006 sequentially (or timely) acquires such external position information or current position information measured by the positioning system, and transmits the acquired position information to the CPU 1005 as current position information.

  The above is the configuration example of the navigation system 1000.

  FIG. 11 is a block diagram illustrating a configuration of an automatic driving system 1100 mounted on a vehicle. The automatic driving system 1100 is a control computer that outputs a control instruction to a drive system of a vehicle.

  The automatic driving system 1100 includes a sensor 1101, a communication unit 1102, a vehicle control unit 1103, a storage unit 1104, and a CPU 1105.

  The sensor 1101 refers to various sensors mounted on the vehicle, and acquires various information around the vehicle and inside the vehicle. As the sensor 1101, for example, various sensors such as an image sensor, an ultrasonic sensor, an infrared sensor, a gyro sensor, and an acceleration sensor can be used. The sensor 1101 transmits sensing data obtained by various sensors to the CPU 1105.

  The communication unit 1102 is a communication interface having a function of executing communication with the navigation system 1000. The communication unit 1102 transmits to the navigation system 1000 the situation information indicating the situation around the vehicle acquired by the sensor 1101 according to the instruction from the CPU 1105. In addition, the communication unit 1102 receives the route information transmitted from the navigation system 1000, and transmits the route information to the CPU 1105.

  Vehicle control unit 1103 outputs an instruction signal to the drive system of the vehicle in accordance with an instruction from CPU 1105.

  The storage unit 1104 has a function of storing various programs and various data required for the operation of the automatic driving system 1100. The storage unit 1104 is realized by, for example, a hard disk drive (HDD), a solid state drive (SSD), a flash memory, or the like. The storage unit 1104 is configured to be accessible from the CPU 1105. The storage unit 1104 stores, for example, the map information 141 and the route information transmitted from the navigation system 1000, in addition to the automatic driving program 1141 for controlling the automatic driving of the vehicle.

  The CPU 1105 executes automatic driving control of the vehicle based on the route information transmitted from the navigation system 1000 and the sensing data transmitted from the sensor 1101. For the automatic driving control of the vehicle, a conventional method or an automatic driving technology to be developed in the future is used. The CPU 1105 generates an instruction signal for automatic driving control of the vehicle by executing the automatic driving program 1141 in the storage unit 1104.

  In the process of automatic driving, the CPU 1105 determines whether or not the vehicle travels in a lane in which a plurality of parallel links are set for one lane, from the position information transmitted from the navigation system 1000 and the map information 141. Thus, the function as a first determination unit for determination is performed.

  In addition, when the own vehicle travels in a lane in which a plurality of parallel links are set for one lane, the CPU 1105 refers to the information on the other vehicle obtained from the sensor 1101 so that the other vehicle travels. It also functions as a second determination unit that determines whether or not the traveling route that is running matches the traveling route on which the host vehicle travels. This can be determined based on whether or not another vehicle traveling ahead of the host vehicle is traveling on the same route in front of the host vehicle for a predetermined time or more. In such a case, the CPU 1105 does not perform the automatic driving according to the route information and the link indicated by the map information 141, but performs the automatic driving that follows the vehicle traveling on the same route in front of the own vehicle. Instruct the vehicle control unit 1103 to do so.

  In addition, the CPU 1105 generates an instruction signal for driving the vehicle according to a surrounding situation. For example, the CPU 1105 follows the vehicle train when it is detected from the sensor 1101 that the vehicle train is ahead of the lane in which the host vehicle is running, as situation information indicating the surrounding situation. May be generated.

  Here, the navigation system 1000 is shown as a device external to the automatic driving system 1100, but this is not a limitation, and the navigation system 1000 may be built in the automatic driving system 1100. The function held by the navigation system 1000 may be realized by the CPU 1105 of the automatic driving system 1100. That is, the map information may be stored in the storage unit 1104, and the CPU 1105 may have a function as a correction unit.

  The above is the configuration example of the automatic driving system 1100.

<Operation>
FIG. 13 is a flowchart showing the operation of the navigation system 1000.

  The receiving unit 1001 receives an input of a destination from a user of the vehicle (Step S1301). The receiving unit 1001 transmits the received information of the destination to the CPU 1005.

  The CPU 1005 searches for a route from the current position to the destination based on the information on the destination transmitted from the reception unit 1001 and the current position transmitted from the position information acquisition unit 1006 (step S1302).

  The CPU 1005 causes the automatic driving system 1100 to output the route information indicating the searched route via the output unit 1003 (step S1303).

  The receiving unit 1002 sequentially receives the situation information indicating the situation around the vehicle from the automatic driving system 1100 (step S1304). The receiving unit 1002 transmits the received status information to the CPU 1005.

  Based on the current position transmitted from the position information acquisition unit 1006, the CPU 1005 corresponds to one of two or more parallel links per lane in the map information 141 beyond the current traveling position. It is determined whether or not the vehicle travels at a position to be performed (step S1305). If the CPU 1005 determines that the vehicle does not travel at a position corresponding to one of two or more parallel links in one lane beyond the position where the vehicle is currently traveling (NO in step S1305), the process proceeds to step S1305. The process moves to S1308.

  If the CPU 1005 determines that the vehicle travels at a position corresponding to one of two or more parallel links in one lane beyond the position where the vehicle is currently traveling (YES in step S1305), The CPU 1005 determines, based on the information transmitted from the situation information, whether or not a train of a plurality of vehicles has occurred before the link (step S1306).

  If the CPU 1005 determines that a vehicle row has occurred in front of the link in a plurality of vehicles based on the information transmitted from the situation information (YES in step S1306), as described above, the map information 141 The link and node information is temporarily corrected (step S1307). If the CPU 1005 determines that the vehicle row in Fukusu has not occurred before the link based on the information transmitted from the situation information (NO in step S1306), the process proceeds to step S1308.

  In step S1308, the CPU 1005 performs a route re-search. At this time, if the link information has been corrected in step S1307, the CPU 1005 executes a route re-search based on the corrected map information 141. Then, the CPU 1005 outputs the re-searched route to the automatic driving system 1100 via the output unit 1003 (step S1308).

  The CPU 1005 determines whether or not information indicating that the engine of the vehicle has been stopped has been obtained from the automatic driving system 1100 as status information (step S1309). Then, when the engine has been stopped (YES in step S1309), the process is terminated, and when the engine has not been stopped (NO in step S1309), the process returns to step S1304. Although not shown in FIG. 13, when the CPU 1005 passes a location where the link has been corrected based on the current position of the vehicle acquired by the position information acquiring unit 1006, the CPU 1005 converts the map information 141 before the correction. Return to the state.

  In this manner, the CPU 1005 can temporarily correct the map information 141 according to the situation information, change the map to a map according to the actual situation, and output route information for performing automatic driving. it can.

  Finally, the operation of the automatic driving system 1100 will be described with reference to FIG. FIG. 14 is a flowchart showing the operation of the automatic driving system 1100.

  As shown in FIG. 14, the sensor 1101 of the automatic driving system 1100 acquires information on the surroundings of the vehicle (step S1401).

  The CPU 1105 outputs status information based on the sensing data collected by the sensor 1101 to the navigation system 1000 (Step S1402).

  The CPU 1105 receives, from the navigation system 1000, via the communication unit 1102, the input of the lane-by-lane route information created according to the situation information (step S1403).

  Then, CPU 1105 generates an instruction signal for automatic driving so as to travel on the route indicated by the received route information. The vehicle control unit 1103 appropriately transmits the generated instruction signal to each unit of the vehicle (for example, an engine, a brake, a steering system, and the like).

  Based on the current position transmitted from the communication unit 1102, the CPU 1105 determines, in the map information 141, a link in which two or more parallel links are set for one lane beyond the current traveling position. It is determined whether the vehicle travels at a position corresponding to any of the positions (step S1404). If it is determined that the vehicle is traveling on any of the links (YES in step S1404), the CPU 1105 further determines whether or not the preceding vehicle is traveling on the same route as the own vehicle by the other vehicle obtained by the sensor 1101. Is determined based on the information of the vehicle and the travel route of the own vehicle (step S1405).

  If it is determined that the preceding vehicle is traveling on the same route as the own vehicle (YES in step S1405), the CPU 1105 responds to the link set in the map information 141 based on the set route. The vehicle control unit 1103 is instructed to execute the automatic driving that follows the vehicle in front of the vehicle, instead of the position where the vehicle is running (step S1406). As a result, the vehicle performs automatic driving following the vehicle ahead ignoring the link of the map information 141 to some extent. If the preceding vehicle deviates from the path of the own vehicle, the process returns to step S1401.

  On the other hand, when it is determined that the vehicle does not travel at a position corresponding to one of the links in which two or more parallel links are set for one lane (NO in step S1404), the vehicle in front of the own vehicle If it is determined that the vehicle is not traveling on the same route as the vehicle (NO in step S1405), the CPU 1105 causes the vehicle to travel a position corresponding to a corresponding link on the map information 141 based on the transmitted route. To the vehicle control unit 1103 (step S1407).

  The CPU 1105 determines whether or not the engine of the vehicle has been turned off by the user based on the data from the sensor 1101 (step S1408). If the engine has been stopped (YES in step S1408), the process ends, and the process stops. If not (NO in step S1408), the process returns to step S1401.

  By successively repeating the processing shown in FIG. 14, the automatic driving system 1100 can execute the automatic driving of the vehicle according to the road condition.

<Summary of Embodiment 2>
According to the navigation system 1000 according to the present embodiment, it is possible to perform a route search after correcting the map information according to the road condition. That is, it is possible to propose a route according to the actual road condition. Then, the automatic driving system 1100 can execute the automatic driving based on the route guidance after the navigation system 1000 corrects the map information, and thus can execute the automatic driving according to the actual road condition.

<Supplement>
The map information creation device according to the above embodiment is not limited to the above embodiment, and it goes without saying that the map information creation device may be realized by another method. Hereinafter, various modifications will be described.

  (1) In the above embodiment, as a method of automatic driving by the automatic driving system, the automatic driving system processor creates the automatic driving program by executing the automatic driving program or the like. It may be realized by a logic circuit (hardware) formed on an IC (Integrated Circuit) chip, an LSI (Large Scale Integration), or the like, or a dedicated circuit. Further, these circuits may be realized by one or a plurality of integrated circuits, and the functions of the plurality of functional units described in the above embodiment may be realized by one integrated circuit. The LSI may be referred to as a VLSI, a super LSI, an ultra LSI, or the like depending on the degree of integration. That is, as shown in FIG. 15, the automatic driving system 1100 may include a sensor 1101, a communication circuit 1102a, a vehicle control circuit 1103a, a storage circuit 1104a, and a control circuit 1105a. , The vehicle control unit 1103, the storage unit 1104, and the CPU 1105.

  The automatic operation program may be recorded on a processor-readable recording medium, and the recording medium may be a “temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, or a programmable logic. A circuit or the like can be used. Further, the automatic driving program may be supplied to the processor via an arbitrary transmission medium (a communication network, a broadcast wave, or the like) capable of transmitting the automatic driving program. That is, for example, a configuration may be used in which an automatic driving program is downloaded from a network and executed using an information processing device such as a smartphone. The present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the automatic driving program is embodied by electronic transmission.

  The above-mentioned automatic driving program uses, for example, a script language such as ActionScript or JavaScript (registered trademark), an object-oriented programming language such as Objective-C, Java (registered trademark), C ++, or a markup language such as HTML5. Can be implemented.

  (2) The various examples described in the above embodiment and the various examples described in <Supplement> may be appropriately combined. The operations shown in the flowcharts may be executed in a different order or executed in parallel if there is no inconsistency as a result.

REFERENCE SIGNS LIST 100 map information creation device 101 reception unit 102 reception unit 103 output unit 104 storage unit 105 CPU (extraction unit, determination unit, generation unit, replacement unit)
141 Map information 1000 Navigation system 1001 Receiving unit 1002 Receiving unit 1003 Output unit 1004 Storage unit 1005 CPU (correction unit)
1006 Location information acquisition unit

Claims (22)

A storage unit that stores map information in which there are lanes in which a plurality of parallel links are set for one lane, and lanes are represented by links, and points of contact between the lanes are represented by nodes;
A route information acquisition unit that acquires route information indicating a route to the destination,
A position information acquisition unit that acquires position information of the vehicle,
Other vehicle information acquisition unit that acquires other vehicle information indicating the state of the other vehicle at least in the traveling direction of the own vehicle,
Based on at least the route information and the position information, while traveling on the link set in the map information to the destination, a control unit that controls automatic traveling of the own vehicle,
A first determination unit configured to determine whether the vehicle travels in a lane in which a plurality of parallel links are set with respect to the one lane, based on the position information and the map information;
When the own vehicle travels in a lane in which a plurality of parallel links are set with respect to the one lane, the travel route along which the other vehicle travels is determined by referring to the other vehicle information. A second determination unit that determines whether or not the travel route matches the travel route;
The control unit, when it is determined that the traveling route on which the other vehicle travels matches the traveling route on which the own vehicle travels, follows the other vehicle traveling ahead of the own vehicle regardless of the link. An automatic driving system characterized by controlling the running of the vehicle in such a way that The second determination unit determines whether a traveling route on which a plurality of other vehicles running on the lane are running matches a traveling route on which the own vehicle travels,
The control unit, when it is determined that the traveling route on which the plurality of other vehicles are traveling matches the traveling route on which the own vehicle travels, the other vehicle traveling ahead of the own vehicle irrespective of the link. The autonomous driving system according to claim 1, wherein the driving of the own vehicle is controlled so as to follow. When the own vehicle is traveling on a lane in which a plurality of parallel links are set for the one lane, a plurality of other vehicles entering the lane may have a plurality of parallel links for the one lane. When the vehicle is running in parallel from before the set lane, the plurality of parallel links of the one lane are extended by a predetermined distance before the traveling direction of the vehicle, and the plurality of parallel links are connected. A correction unit that temporarily corrects the map information so as to change the position of the node,
The automatic driving system according to claim 1, wherein the control unit controls the automatic traveling of the own vehicle according to the map information corrected by the correction unit. The other vehicle information obtaining unit obtains, as the other vehicle information, travel history information on which the other vehicle travels,
The correction unit determines, based on the travel history information, how many parallel links to the one lane should be extended toward the host vehicle and how far to extend, and temporarily corrects the map information. The automatic driving system according to claim 3, wherein: The control unit, based on the travel history information, of the plurality of extended parallel links, controls the own vehicle to travel on a link that does not obstruct traffic flow in the lane. The automatic driving system according to claim 4, which performs the operation. The control unit automatically selects, as a link that does not hinder the traffic flow, a link having a small number of vehicles that are considered to be traveling on the plurality of parallel links as a route on which the own vehicle travels. The automatic driving system according to claim 5, wherein the vehicle is driven. The said correction | amendment part returns the said map information to before the correction | amendment, after the own vehicle runs the lane by which several parallel links are set with respect to the said 1 lane. The automatic driving system according to claim 1. Automatic driving performed by an automatic driving system that includes a storage unit that stores map information including lanes in which lanes are represented by links and contact points between the lanes are represented by nodes, and a plurality of parallel links are set for one lane. The method
A route information obtaining step of obtaining route information indicating a route to the destination;
A position information acquisition step of acquiring position information of the own vehicle,
Other vehicle information acquisition step of acquiring other vehicle information indicating the state of at least another vehicle in the traveling direction of the own vehicle,
Based on at least the route information and the position information, a control step of controlling automatic traveling of the own vehicle to the destination while traveling on the link set in the map information,
A first determination step of determining whether the vehicle travels in a lane in which a plurality of parallel links are set for the one lane, from the position information and the map information;
When the own vehicle travels in a lane in which a plurality of parallel links are set with respect to the one lane, the travel route along which the other vehicle travels is determined by referring to the other vehicle information. A second determination step of determining whether or not the travel route matches the travel route,
The control step follows the other vehicle traveling in front of the own vehicle, regardless of the link, when it is determined that the traveling route on which the other vehicle is traveling matches the traveling route on which the own vehicle travels. An automatic driving method characterized by controlling the traveling of the own vehicle in such a manner as to perform the driving. The second determination step determines whether or not a traveling route on which a plurality of other vehicles running on the lane are running coincides with a traveling route on which the own vehicle travels,
The control step may include, when it is determined that the traveling route on which the plurality of other vehicles travels matches the traveling route on which the own vehicle travels, the other vehicle traveling ahead of the own vehicle regardless of the link. The automatic driving method according to claim 8, wherein the traveling of the own vehicle is controlled so as to follow. When the own vehicle is traveling on a lane in which a plurality of parallel links are set for the one lane, a plurality of other vehicles entering the lane may have a plurality of parallel links for the one lane. When the vehicle is running in parallel from before the set lane, the plurality of parallel links of the one lane are extended by a predetermined distance before the traveling direction of the own vehicle, and the plurality of parallel links are connected. A correction step of temporarily correcting the map information so as to change the position of the node,
The automatic driving method according to claim 8, wherein the control step controls the automatic traveling of the vehicle according to the map information corrected by the correction step. The other vehicle information obtaining step, as the other vehicle information, obtains travel history information that the other vehicle travels,
The correction step includes: determining, based on travel history information, how much a plurality of parallel links to the one lane should extend toward the host vehicle, and extending the link to temporarily correct the map information. The automatic driving method according to claim 10, wherein: The control step, of the plurality of extended parallel links, controls the vehicle based on the travel history information so as to travel on a link that does not obstruct traffic flow in the lane. The automatic driving method according to claim 11, wherein: The control step automatically selects, as a link that does not hinder the traffic flow, a link having a small number of vehicles that are considered to be traveling on the plurality of parallel links as a route on which the own vehicle travels. The automatic driving method according to claim 12, wherein the vehicle is driven. The said correction | amendment step returns the said map information to before the correction | amendment, after the own vehicle runs the lane by which several parallel links are set with respect to the said 1 lane. The automatic driving method according to claim 1. A computer that can access a storage unit that stores map information including a lane in which a plurality of parallel links are set for one lane, and a lane in which a plurality of parallel links are set for one lane;
A route information acquisition function for acquiring route information indicating a route to a destination,
A position information acquisition function for acquiring position information of the vehicle,
Other vehicle information acquisition function of acquiring other vehicle information indicating the state of at least another vehicle in the traveling direction of the own vehicle,
Based on at least the route information and the position information, while traveling on the link set in the map information to the destination, a control function to control the automatic traveling of the vehicle,
A first determination function of determining whether or not the vehicle travels in a lane in which a plurality of parallel links are set for the one lane, from the position information and the map information;
When the own vehicle travels in a lane in which a plurality of parallel links are set with respect to the one lane, the travel route along which the other vehicle travels is determined by referring to the other vehicle information. And a second determination function of determining whether or not the traveling route is the same as the traveling route,
The control function follows the other vehicle traveling in front of the own vehicle, regardless of the link, when it is determined that the traveling route on which the other vehicle is traveling matches the traveling route on which the own vehicle travels. An automatic driving program characterized by controlling the running of the vehicle in such a way that The second determination function determines whether or not a traveling route on which a plurality of other vehicles running on the lane are running matches a traveling route on which the own vehicle travels,
The control function determines whether the traveling route on which the plurality of other vehicles travels matches the traveling route on which the own vehicle travels, and determines whether the other vehicle traveling ahead of the own vehicle regardless of the link. The automatic driving program according to claim 15, wherein the driving of the own vehicle is controlled so as to follow. When the own vehicle is traveling on a lane in which a plurality of parallel links are set for the one lane, a plurality of other vehicles entering the lane may have a plurality of parallel links for the one lane. When the vehicle is running in parallel from before the set lane, the plurality of parallel links of the one lane are extended by a predetermined distance before the traveling direction of the vehicle, and the plurality of parallel links are connected. A correction function for temporarily correcting the map information so as to change the position of the node,
The automatic driving program according to claim 15, wherein the control function controls the automatic traveling of the own vehicle according to the map information corrected by the correction function. The other vehicle information acquisition function, as the other vehicle information, obtains travel history information that the other vehicle travels,
The correction function is to temporarily correct the map information based on traveling history information, by determining how far a plurality of parallel links to the one lane are to be directed toward the own vehicle and extending the link to the own vehicle. The automatic operation program according to claim 17, wherein: The control function controls the own vehicle to travel on a link that does not hinder traffic flow in the lane, based on the traveling history information, among the plurality of extended parallel links. The automatic operation program according to claim 18, wherein The control function automatically selects, as a link that does not hinder the traffic flow, a link having a small number of vehicles that are considered to be traveling on the plurality of parallel links as a route on which the own vehicle travels. The automatic driving program according to claim 19, wherein the automatic driving program runs. The said correction | amendment function returns the said map information to before correction after self-vehicles drive the lane by which several parallel links are set with respect to the said 1 lane. The automatic operation program according to claim 1.   A recording medium storing the automatic operation program program according to any one of claims 15 to 21.

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